               b-ra (:remaining-actions entry), b-sa (:sanode entry), b-cd (:min-cycle-depth entry)
               rec-next-best (- (max next-best (cutoff both-queue)) b-rts)]
           (if (empty? b-ra)
-              (do (println "found state" (map #(env/get-var b-s %) '[[atx] [aty]]) "with reward" b-rts)
+              (do; (println "found state" (map #(env/get-var b-s %) '[[atx] [aty]]) "with reward" b-rts)
                 (recur (assoc-safe new-results >=
                                   (vary-meta (extract-effect b-s (:context node) (:opt (meta b-s))) assoc :entry entry) b-rts)
                       cutoff-depth-map good-roots))
             (let [[rec rcut] (if-let [stack-depth (.get stack-node-depths b-sa)]
-                            (do (println "Stack hit on" (env/action-name (:action b-sa)) (map #(env/get-var b-s %) '[[atx] [aty]])) 
+                            (do ;(println "Stack hit on" (env/action-name (:action b-sa)) (map #(env/get-var b-s %) '[[atx] [aty]])) 
                                 [(PartialResult {} Double/NEGATIVE_INFINITY stack-depth) (- neg-reward)])
                             [(expand-sa-node b-sa cache rec-next-best b-s b-rts (- 0 neg-reward b-rts)
                                               stack-node-depths (inc depth)) (+ (cutoff (:queue b-sa)) b-rts)])



; (first (filter #(let [h (simple-taxi-hierarchy (make-random-taxi-env 2 3 2 %)) ] (println %) (not (= (prln  (second (sahtn-dijkstra h))) (second (exp.sahucs-nc/sahucs-nc h))))) (map (fn [x y] x) (range 100) (iterate inc 0))))
; 74 causes infinite loop. ?

; (first (filter #(let [h (simple-taxi-hierarchy (make-random-taxi-env 3 2 2 %)) ] (println %) (not (= (prln  (second (sahtn-dijkstra h))) (second (exp.sahucs-nc/sahucs-nc h))))) (map (fn [x y] x) (range 100) (iterate inc 0))))
; 65 fails

            (queues/g-pq-replace! good-queue entry 
              (or (:cutoff (meta entry)) (- (:reward-to-state entry))))) ;(if-let [n  (:sanode entry)] (cutoff (:queue n)) 0)
          (.remove stack-node-depths node) ;; TODO: catchup!! 
         ; (println "Returning from" (env/action-name (:action node)) (map #(env/get-var state %) '[[atx] [aty]]) "With cutoff" cut (cutoff good-queue) "and cdm" cutoff-depth-map "and states" (count new-results) (count catchup) "-" (count clean) (count dirtied) (count still-dirty) "and good roots" (count good-roots) (map :reward-to-state good-roots))
          (PartialResult (stitch-effect-map 
                           (into {} (map (fn [[s r]] [(vary-meta s assoc :cycle-depth 
                                                        (final-cycle-depth r (or (:cycle-depth (:entry (meta s))) 
